Having a RaycastHit event create a component?

I am creating a physics-based character control system and I plan to have the movement completely physics. I have a walking animation running, but the feet are not planting into the ground and pushing the character forward that much, and it is very uncoordinated. I plan to have the feet create FixedJoints with a small break force/torque, so the animation will naturally break it. How could I script this? I tried a script, but it isn't working. Here it is. You may edit this, or write a completely new one. Thanks! (The script goes in to each foot)

 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
 public class FixedJointCreation : MonoBehaviour
 {
     //     public GameObject foot; // you don't need this, put the script on the object
     //     public bool CreateJoint = false; // you don't need this
     public float raycastDistance;
     int layermask = 1 << 8; // layer mask can be declared here, -5 = everything but Ignore Raycast layer
     
     public bool CreateJoint = false;
 
     private void Start()
     {
         Debug.Log("FixedJointCreation Started");
     }
     void FixedUpdate() // I believe creating a Joint would be better in FixedUpdate
     {
         // use transform.up gives the same as transform.TransformDirection(Vector3.up)
 
         Debug.DrawRay(transform.position, transform.forward * raycastDistance, Color.yellow);
 
         // YOU ARE NOT USING THE SAME VECTOR FOR RAYCASTING AND DEBUG, DEBUG USES forward, RAYCASTING uses -up
         RaycastHit hit;
         if (Physics.Raycast(transform.position, transform.up, out hit, raycastDistance) && (CreateJoint == false))
         {
             FixedJoint fixedjoint = gameObject.AddComponent<FixedJoint>();
             fixedjoint.breakForce = 3;
             fixedjoint.breakTorque = 10;
             fixedjoint.anchor = transform.position;
             Debug.Log("RaycastFired");
             Debug.DrawRay(transform.position, transform.forward * raycastDistance, Color.green);
 
             CreateJoint = true;
 
         }
         else
         {
             CreateJoint = false;
         }
     }
 }